CN113169690B - Device, arrangement system and method for determining an angle between a rotor and a stator - Google Patents
Device, arrangement system and method for determining an angle between a rotor and a stator Download PDFInfo
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- CN113169690B CN113169690B CN201980079922.7A CN201980079922A CN113169690B CN 113169690 B CN113169690 B CN 113169690B CN 201980079922 A CN201980079922 A CN 201980079922A CN 113169690 B CN113169690 B CN 113169690B
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- 238000000034 method Methods 0.000 title claims description 18
- 238000012937 correction Methods 0.000 claims description 45
- 238000010586 diagram Methods 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 7
- 230000005284 excitation Effects 0.000 description 5
- 238000004804 winding Methods 0.000 description 5
- 230000001939 inductive effect Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000001914 filtration Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003679 aging effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000000053 physical method Methods 0.000 description 1
- 230000002277 temperature effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K24/00—Machines adapted for the instantaneous transmission or reception of the angular displacement of rotating parts, e.g. synchro, selsyn
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/028—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2053—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by a movable non-ferromagnetic conductive element
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41065—Resolver or inductosyn correction
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Device (1) for determining a first angle (Φ) between a rotor and a stator, having an input for reading in an electrical signal (15, 16) detected via a sensor system, which represents an amplitude (3, 4) of the first angle (Φ), wherein the device (1) has an angle estimator (6) for estimating a second angle (Φ_est), wherein the device (1) has means for determining (7, 8) an amplitude (7, 8) representing the estimated second angle (Φ_est), wherein the device (1) has at least one closed-loop adjustment device with which at least one difference (9, 10) between the amplitude (3, 4) representing the first angle (Φ) and the amplitude (7, 8) representing the estimated second angle (Φ_est) can be minimized and the estimated second angle (Φ_est) can be provided via an output (5).
Description
Technical Field
The invention relates to a device, an arrangement system and a method for determining an angle between a rotor and a stator.
Background
The rotor and the stator are part of a rotating electrical machine in particular, wherein synchronous and asynchronous machines in particular play a more important role.
Modern drive technology (e.g., traction drive in electric vehicles) currently typically uses permanently excited synchronous motors.
These synchronous machines comprise, for example, rotatably mounted permanent magnets which are positioned inside the stator coil system. A rotating field is generated with the stator coil system, the rotating field moving the rotor. The rotational speeds of the stator and the rotor are the same, determined by the principle.
However, in order to provide the desired torque, the phase offset is specifically adjusted so that the stator field leads the rotor by an angular offset. Thereby creating the need to determine the rotor position angle.
Rotor position encoders in different ways are known from the prior art. Electromagnetic measuring transducers (so-called rotary transformers) are therefore used to convert the angular position of the rotor into electrical variables. The coil assembly is wound as a stator winding around a coil former. In the interior, a rotor is rotatably mounted, which influences the coupling of the coils as a function of the angle of rotation by means of a corresponding geometric design.
Alternative sensor designs are based on, for example, inductive or magnetic principles. For example, potentiometer encoders, incremental encoders or absolute encoders are known.
In resolver-based or inductive sensor types, two-phase systems are generally used, in which two stator windings are arranged offset from one another. If the rotor windings are excited with an alternating voltage in sinusoidal form, the stator windings may be arranged such that the amplitude of the voltage induced in the stator windings corresponds to the sine and cosine of the angular position of the rotor of the electrical machine to be investigated.
The angular position Φ is then calculated from the amplitudes α 1 and α 2. The formula can be utilized by division and subsequent arctangent calculationThe angle is calculated inversely.
A disadvantage of this signal processing scheme is the relatively long calculation duration, since in particular division and arctangent calculations are very time-consuming. Furthermore, the sine and cosine signals must be modified before computation. At least the signal offset is compensated for and the amplitude is equalized. In particular in magnetic sensors, phase correction may also be required, depending on the physical measurement principle. All of these steps negatively impact signal propagation time.
Another disadvantage of the prior art is that the angle determined according to this principle is available after propagation times of different lengths. Thus, for example, the controller works with data that has undergone different lengths of processing time. This change in data negatively affects the accuracy of the motor control sought. The longer the processing time, the older the measured value of the angle at a certain point in time may be. If, for example, the controller periodically requires angle information and the calculation time is 50 mus, the signal lifetime fluctuates between 0 and 50 mus.
Disclosure of Invention
The present invention proceeds from this point.
The object of the present invention is to provide a device for determining the angle between a rotor and a stator, an arrangement for such a computing device and a method for operating such a device, which enables a very rapid angle determination with little variation (jitter) in its computation duration.
This object is achieved by a device according to the invention for determining a first angle between a rotor and a stator, an arrangement according to the invention for determining a first angle between a rotor and a stator, and a method according to the invention for operating the above device.
The device according to the invention for determining a first angle between a rotor and a stator has an input for reading in an amplitude representing the first angle of an electrical signal detected via a sensor system, wherein the device has an angle estimator for estimating a second angle, wherein the device has means for determining an amplitude representing the estimated second angle, wherein the device has at least one closed-loop adjustment device with which at least one difference between the amplitude representing the first angle and the amplitude representing the estimated second angle can be minimized and the estimated second angle can be provided via an output.
Advantageously, provision can be made for the device to have means for calculating the at least one difference. In this way the amplitude representing the first angle is compared with the amplitude representing the estimated second angle and the result is fed back to the angle estimator.
There is a possibility that the device determines the amplitude representing the estimated second angle via at least two channels.
The estimated second angle is uniquely represented by two amplitudes that are calculated via two different channels and compared to the relevant amplitudes of the first angle.
It is thus possible for the closed-loop adjusting device to have an angle estimator as an adjuster and for the estimated second angle to be varied by means of the angle estimator until the value of the difference between the amplitude representing the first angle and the amplitude representing the estimated second angle is smaller than a predetermined value.
In order to be able to achieve a fast signal propagation time, the means for error correction of the sensor system are implemented at points of the device that affect the signal propagation time as little as possible.
It is therefore advantageously provided that the device has means for error correction of the sensor system, wherein the error correction can be carried out by changing the amplitude, phase and/or offset of the read-in amplitude representing the first angle.
In this case, error correction is performed on the read amplitude before comparing the read amplitude with the determined amplitude.
In addition or alternatively, it can be provided that the device has means for error correction of the sensor system, wherein the error correction can be carried out by changing the amplitude, phase and/or offset of the determined amplitude representing the estimated second angle.
In this case, error correction is performed on the determined amplitude before the determined amplitude is compared with the read amplitude.
In addition or alternatively, it can be provided that the device has means for error correction of the sensor system, wherein the error correction can be carried out by changing the angle of the estimation.
In this case, error correction is performed at the end of the closed-loop adjustment and the estimated second angle is corrected.
The invention also relates to an arrangement for determining a first angle between a rotor and a stator. The arrangement according to the invention has a device according to the invention, a sensor system for detecting an electrical signal and means for determining an amplitude representing a first angle of the electrical signal detected via the sensor system.
For detecting the electrical signal, it can be provided that the sensor system has a plurality of channels.
Furthermore, it can be provided that the sensor system operates inductively, capacitively, magnetically or according to other measurement principles.
It is possible that the error correction of the sensor system is already performed before the amplitude representing the first angle is read in by the device. In this case, it can be provided that the arrangement has means for error correction of the sensor system, wherein the error correction can be carried out by changing the amplitude, the phase and/or the offset of the detected electrical signal.
The method for operating the device according to the invention comprises at least the following steps:
reading in by the device an amplitude representing the first angle of the electrical signal detected via the sensor system,
The angle estimator estimates a second angle (Φest),
Determining an amplitude representative of the second angle,
Forming at least one difference between the amplitude representing the first angle and the amplitude representing the estimated second angle,
Delivering the at least one difference to the angle estimator,
The angle estimator estimates a new second angle (Φ_est) taking into account the at least one difference,
Continuing the method until the value of the difference is smaller than the determined value,
-The angle estimator provides an estimated second angle via an output.
The advantage of the invention is that by means of the invention no more costly division and arctangent calculations are required, since closed-loop adjustment for angle determination is used. The angle estimator changes the estimated second angle until the determined amplitude is almost the same as the read-in amplitude.
This enables a particularly small signal propagation time, which should be at least ten times faster than the dynamics of the input signal. Another advantage of such angle determination is a constant signal propagation time, thereby minimizing fluctuations.
Drawings
The invention is explained in more detail below with the aid of the figures. In the figure:
Figure 1 shows a block diagram of a first arrangement system according to the invention for determining the angle between a rotor and a stator,
Fig. 2 shows a block diagram of an arrangement according to the invention, with first means (only one channel is shown without limiting generality) for error correction of an electrical signal or amplitude detected via a sensor system representing a first angle,
Fig. 3 shows a block diagram of an arrangement according to the invention, with second means for error correction of the amplitude representing the estimated second angle (only one channel is shown, without limiting the generality),
Fig. 4 shows a block diagram of an arrangement according to the invention with third means for error correction by changing the estimated second angle (only one channel is shown without limiting the generality).
Detailed Description
Like components are provided with like reference numerals throughout the various figures.
Fig. 1 shows a block diagram of a first arrangement 2 according to the invention for determining the angle Φest between rotor and stator.
The block diagram shows an arrangement 2 with two channels, which arrangement can however be transferred without limitation to an arrangement with other numbers of channels.
The electrical signals 15, 16 detected by the sensor system are transmitted to the arrangement system 2. The sensor system is not shown in more detail in this block diagram, as it is generally known in the art. The embodiment shown is based on a two-channel inductive sensor. Sensor systems with more or fewer channels and with other measuring principles, for example magnetic measuring principles and/or capacitive measuring principles, are entirely conceivable here.
In principle, the sensor system consists in the case shown of an excitation coil which is supplied with an alternating voltage having a frequency between 1MHz and 10MHz, preferably 3.5MHz, and an amplitude in the range of a few volts.
The excitation coil is preferably connected as a frequency-dependent element in the LC oscillation circuit and is preferably embodied essentially helically on the circuit board. The two receiving coils are located inside or outside the excitation coil, said two receiving coils having substantially the same geometry but being rotated relative to each other by an angle τ.
Here, the relationshipSuitable for use in a two-phase system, where Φ_meas represents the measurement range of the sensor (univalue range (Eineindeutigkeitsbereich)), which is preferably an integer factor of 360 °. By means of the rotatably mounted electrically conductive element, which is arranged at a distance from the coil, the electrical signal (voltage) induced in the receiving coil is influenced as a function of the angle of rotation by the electromagnetic alternating field of the exciter coil.
Since only the amplitudes 3, 4 of the electrical signals 15, 16 carry the required angle information, the arrangement system 2 comprises means for determining the amplitude values 11, 12, 13, 14 of the electrical signals 15, 16 detected via the sensor system.
In fig. 1, the amplitude is determined by synchronous demodulation with carrier 17 (excitation signal). This is achieved by multiplying the excitation voltage by means of multipliers 13, 14. Subsequently, low pass filtering 11, 12 is performed. These filters preferably have a cut-off frequency in the range of tens to hundreds of kHz.
Of course, other methods for determining the amplitudes 3, 4 are also possible, for example digitizing the determined electrical signals and using an algorithm for determining the maximum value.
The first angle Φ can be determined from the amplitudes 3,4 according to known methods. Thus, the amplitudes 3,4 represent the first angle Φ.
The determined amplitudes 3, 4 are transmitted to the device at the input.
Instead of calculating the angle Φ from the amplitudes 3, 4, an angle estimator 6 is used in the present embodiment, which estimates a second angle Φ_est.
There are various schemes for the estimation of the second angle Φ_est. It is conceivable that the last angle is used first, at which the motor has been turned off. However, this would mean using memory. The second angle Φ_est can also be guessed first. For this purpose, a random number generator can be used, for example. Furthermore, the value 0 may be set as a start value for angle estimation each time. Of course, other methods for estimating the estimated second angle Φ_est are also contemplated.
The representative amplitudes 7, 8 are determined for this estimated second angle Φ_est.
The determination of the representative amplitudes 7, 8 may be done, for example, via a Look-up-Table (Look-up-Table) in which the amplitudes corresponding to the angles are stored. Other methods are also conceivable here, such as a calculation of the amplitude.
The transmitted amplitudes 3, 4 and the determined amplitudes 7, 8 are fed to at least one means for forming a difference 9, 10, which forms the difference between the amplitudes 3, 4 representing the first angle Φ and the amplitudes 7, 8 representing the estimated second angle Φ_est.
These differences 9, 10 are fed to the angle estimator 6, so that the angle estimator 6 can estimate a new second angle Φest taking into account the fed differences 9, 10. The method is continued until the value of the differences 9, 10 is smaller than the determined value.
With the described recursion in the form of closed-loop adjustment, the angle determination is carried out without time-consuming calculations from the representative amplitudes 3, 4, but by recursively approaching the desired values.
Because real systems are generally not ideal, it may be meaningful to make error corrections. In the inductive sensor system on which the arrangement system 2 according to the invention is based, which is shown in fig. 1, errors may be mainly caused by tolerances (e.g. eccentricity between rotor and stator), by temperature effects and/or aging effects and by the design itself.
Fig. 2 shows a block diagram of an arrangement system 2 according to the invention with first means for error correction 18, 19, 20, 21 of an electrical signal 15, 16 or amplitude 3, 4 detected via a sensor system representing a first angle Φ.
Only one channel is shown for clarity. Of course, all error correction possibilities are also applicable to each further channel.
Fig. 2 shows the upper channel in fig. 1. The amplitudes 3,4 of the detected electrical signals 15, 16 at the first angle Φ are transmitted via the input to the device 1. The angle estimator 6 estimates a second angle Φ_est and determines the associated amplitude 8. At least one difference 9 in amplitude 8 is returned to the angle estimator 6.
The block diagram expands the different possibilities of error correction 18, 19, 20 of the electrical signal 15 or amplitude 8 detected via the sensor system, which represents the first angle Φ.
The error correction may be performed before and/or after the demodulation 13 of the detected electrical signal 15, wherein only one of these error corrections 18, 19, 20 may be provided, or a plurality of error corrections 18, 19, 20 may be provided.
A direct current signal or an alternating current signal (e.g. higher harmonics) can be added or subtracted by the shown error correction 18, 19, 20 in order to change the amplitude, phase and offset of the read-in amplitude 15 of the first angle Φ.
The error correction 18, 19, 20, 21 may be implemented in the analog part and/or the digital part of the evaluation electronics. In addition, other influencing variables can be taken into consideration in error correction.
The error correction 21 to be implemented may alternatively or additionally act on the carrier signal 17 and dynamically adjust the carrier signal in terms of amplitude, phase, offset or frequency.
Another possibility is shown in fig. 3 with a second means for error correction 22 of the amplitude 8 representing the estimated second angle Φ_est.
Here, the determined amplitude value 8 of the second estimated angle Φ_est is then subjected to an error correction 22.
The correction performed and the correlation with other influencing variables correspond to the embodiment of fig. 2.
Fig. 4 shows the error correction by the third means 23 by varying the estimated second angle Φ_est. At the end of the closed-loop adjustment, the output angle Φ_est is corrected and a new output angle Φ_est' is produced.
The error correction 23 for the estimated angles Φ_est may for example comprise a look-up table (LUT) and a new output angle Φ_est' is provided for each estimated angle Φ_est. The stored LUT may be generated by different methods and optionally adjusted periodically.
Furthermore, calibration or methods known in the art of machine learning are conceivable here.
List of reference numerals
1. Device for determining the angle between a rotor and a stator
2. Arrangement system
3. 4 Represents the amplitude of the first angle
5. An output providing an estimated second angle
6. Angle estimator
7. 8 Means for determining an amplitude representative of the estimated second angle
9. 10 Means for calculating at least one difference
11. 12 Low pass filtering
13. 14 Multiplier
15. 16 Electrical signals detected via a sensor system
17. Carrier wave
18. 19, 20, 21 For error correction
22. Second device for error correction
23. Third device for error correction
Phi first angle
Second angle estimated by Φest
Estimated second angle of Φest' correction
Claims (12)
1. A device (1) for determining a first angle (phi) between a rotor and a stator, said device having an input for reading in an amplitude (3, 4) representing the first angle (phi) of an electrical signal (15, 16) detected via a sensor system,
It is characterized in that the method comprises the steps of,
The device (1) has an angle estimator (6) for estimating a second angle (Φest),
The device (1) has means (7, 8) for determining an amplitude representing an estimated second angle (Φest),
Said device (1) having at least one closed-loop adjustment device with which at least one difference between an amplitude (3, 4) representing said first angle (phi) and an amplitude representing an estimated second angle (phi est) can be minimized,
-An estimated second angle (Φest) can be provided via the output (5).
2. The device (1) according to claim 1, characterized in that the device (1) has means (9, 10) for calculating the at least one difference.
3. The device (1) according to claim 1 or 2, characterized in that the device (1) determines an amplitude representing the estimated second angle (Φest) via at least two channels.
4. Device (1) according to claim 1 or 2, characterized in that the closed-loop adjusting device has the angle estimator (6) as an adjustor and that the estimated second angle (Φ_est) can be changed by means of the angle estimator (6) until the value of the difference between the amplitude (3, 4) representing the first angle (Φ) and the amplitude representing the estimated second angle (Φ_est) is smaller than a predetermined value.
5. The device (1) according to claim 1 or 2, characterized in that the device (1) has a first means (20) for error correction of the sensor system, which error correction can be implemented by changing the amplitude, phase and/or offset of the amplitude (3, 4) representing the first angle (Φ) read in.
6. The device (1) according to claim 1 or 2, characterized in that the device (1) has second means (22) for error correction of the sensor system, which error correction can be implemented by changing the amplitude, phase and/or offset of the determined amplitude representing the estimated second angle (Φ_est).
7. The device (1) according to claim 1 or 2, characterized in that the device (1) has third means (23) for error correction of the sensor system, which error correction can be implemented by changing the estimated angle (Φest).
8. An arrangement (2) for determining a first angle (phi) between a rotor and a stator,
The arrangement system has:
Device (1) according to any one of claims 1 to 7,
A sensor system for detecting an electrical signal,
-Means for determining an amplitude (3, 4) representative of the first angle (Φ) of the electrical signal (15, 16) detected via the sensor system.
9. The arrangement (2) according to claim 8, wherein the sensor system has a plurality of channels.
10. The arrangement (2) according to claim 8 or 9, characterized in that the sensor system is implemented inductively, capacitively or magnetically.
11. Arrangement system (2) according to claim 8 or 9, characterized in that the arrangement system (2) has means for error correction of the sensor system, which error correction can be implemented by changing the amplitude, phase and/or bias of the detected electrical signals (15, 16).
12. Method for operating a device (1) according to any one of claims 1 to 7, wherein the method has at least the following steps:
reading in by the device (1) an amplitude (3, 4) representing a first angle (phi) of an electrical signal (15, 16) detected via a sensor system,
An angle estimator (6) estimates a second angle (Φest),
Determining an amplitude representative of the estimated second angle (Φ est),
Forming at least one difference between the amplitude (3, 4) representing the first angle (phi) and the amplitude representing the estimated second angle (phi est),
-Feeding said at least one difference to said angle estimator (6),
-Said angle estimator (6) estimating a new second angle (Φ_est) taking into account said at least one difference,
Continuing the method until the value of the at least one difference is smaller than the determined value,
-Said angle estimator (6) providing an estimated second angle (Φest) via an output (5).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018130972.4A DE102018130972A1 (en) | 2018-12-05 | 2018-12-05 | Device, arrangement and method for determining an angle between a rotor and a stator |
| DE102018130972.4 | 2018-12-05 | ||
| PCT/EP2019/082840 WO2020114872A1 (en) | 2018-12-05 | 2019-11-28 | Device, arrangement and method for determining an angle between a rotor and a stator |
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| CN113169690A CN113169690A (en) | 2021-07-23 |
| CN113169690B true CN113169690B (en) | 2024-06-21 |
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| US (1) | US11909282B2 (en) |
| EP (1) | EP3891882B1 (en) |
| CN (1) | CN113169690B (en) |
| DE (1) | DE102018130972A1 (en) |
| WO (1) | WO2020114872A1 (en) |
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| CN103650326A (en) * | 2011-05-30 | 2014-03-19 | 罗伯特·博世有限公司 | Method and apparatus for angle estimation in a synchronous machine |
| CN106787991A (en) * | 2016-05-26 | 2017-05-31 | 上海拿森汽车电子有限公司 | The angle coding/decoding method of rotary transformer in electric boosting steering system |
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| JP4627746B2 (en) * | 2005-07-19 | 2011-02-09 | 日立オートモティブシステムズ株式会社 | Phase detection circuit, resolver / digital converter using the same, and control system |
| US7579799B2 (en) * | 2006-01-17 | 2009-08-25 | Raytheon Company | System and method for determining angular position and controlling rotor orientation |
| JP4909797B2 (en) * | 2007-04-24 | 2012-04-04 | 本田技研工業株式会社 | Motor control device |
| US7643733B2 (en) * | 2007-07-27 | 2010-01-05 | Gm Global Technology Operations, Inc. | Control device for driving a brushless DC motor |
| JP5341714B2 (en) * | 2009-06-15 | 2013-11-13 | 愛三工業株式会社 | Phase difference type resolver |
| JP4780223B2 (en) * | 2009-08-06 | 2011-09-28 | 株式会社デンソー | Vehicle drive motor control device |
| DE102010042134A1 (en) * | 2010-10-07 | 2012-04-12 | Robert Bosch Gmbh | Electric motor with a rotor position detection |
| DE112015006003T5 (en) * | 2015-01-20 | 2017-10-26 | Mitsubishi Electric Corporation | Angle error correction device and angular error correction method for a position sensor |
| JP6005781B2 (en) * | 2015-03-05 | 2016-10-12 | 日本航空電子工業株式会社 | Resolver device |
| JP6498580B2 (en) * | 2015-09-30 | 2019-04-10 | 日本航空電子工業株式会社 | Brushless resolver and rotation angle detector |
| JP2017229196A (en) * | 2016-06-24 | 2017-12-28 | 株式会社リコー | Angle estimation device, motor control device, motor driving device, motor driving system, image forming apparatus, and conveying device |
| CN108599664B (en) * | 2018-05-30 | 2021-01-08 | 阳光电源股份有限公司 | Method and system for acquiring position of motor rotor of rotary transformer |
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2018
- 2018-12-05 DE DE102018130972.4A patent/DE102018130972A1/en active Pending
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2019
- 2019-11-28 EP EP19832840.3A patent/EP3891882B1/en active Active
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- 2019-11-28 WO PCT/EP2019/082840 patent/WO2020114872A1/en unknown
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103650326A (en) * | 2011-05-30 | 2014-03-19 | 罗伯特·博世有限公司 | Method and apparatus for angle estimation in a synchronous machine |
| CN106787991A (en) * | 2016-05-26 | 2017-05-31 | 上海拿森汽车电子有限公司 | The angle coding/decoding method of rotary transformer in electric boosting steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| US11909282B2 (en) | 2024-02-20 |
| DE102018130972A1 (en) | 2020-06-10 |
| EP3891882A1 (en) | 2021-10-13 |
| EP3891882B1 (en) | 2023-05-24 |
| US20210296976A1 (en) | 2021-09-23 |
| CN113169690A (en) | 2021-07-23 |
| WO2020114872A1 (en) | 2020-06-11 |
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